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<div class="title">registration_visualizer.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_VISUALIZER_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_VISUALIZER_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">// PCL</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/registration.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/pcl_visualizer.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_registration_visualizer.html">RegistrationVisualizer</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#ae7d963b9d97c75df7223bcc5fe7ea4dc">   60</a></span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#ae7d963b9d97c75df7223bcc5fe7ea4dc">RegistrationVisualizer</a> () : </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a651f0c0ee86d59a951ec5edbed62d253">viewer_</a> (),</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#ae452a8e8560a4f773a8ce271ca5b425b">viewer_thread_</a> (),</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">registration_method_name_</a> (),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a> (),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a> (),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">cloud_source_</a> (),</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">cloud_target_</a> (),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a> (),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">cloud_intermediate_</a> (),</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">cloud_intermediate_indices_</a> (),</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">cloud_target_indices_</a> (),</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">maximum_displayed_correspondences_</a> (0)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      {}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a8aa479028e64ad6aa570e8ae5443295f">   83</a></span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#a8aa479028e64ad6aa570e8ae5443295f">setRegistration</a> (<a class="code" href="classpcl_1_1_registration.html">pcl::Registration&lt;PointSource, PointTarget&gt;</a> &amp;registration)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="comment">// Update the name of the registration method to be displayed</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">registration_method_name_</a> = registration.<a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a>();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">// Create the local callback function and bind it to the local function responsible for updating</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="comment">// the local buffers</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a> = boost::bind (&amp;<a class="code" href="classpcl_1_1_registration_visualizer.html">RegistrationVisualizer&lt;PointSource, PointTarget&gt;::updateIntermediateCloud</a>,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                          <span class="keyword">this</span>, _1, _2, _3, _4);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Register the local callback function to the registration algorithm callback function</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        registration.<a class="code" href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">registerVisualizationCallback</a> (this-&gt;<a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment">// Flag that no visualizer update was done. It indicates to visualizer update function to copy</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="comment">// the registration input source and the target point clouds in the next call.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.lock ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.unlock ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#ab787362b64bcea7f9687da4aca902e7a">startDisplay</a> ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#abed5c1b7abac1c036b6058d0138ccaa5">stopDisplay</a> ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">updateIntermediateCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                               <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a897f50b0c290445cdb8847bb2e4c38a4">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#a897f50b0c290445cdb8847bb2e4c38a4">setMaximumDisplayedCorrespondences</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> maximum_displayed_correspondences)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="comment">// This method is usually called form other thread than visualizer thread</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="comment">// therefore same visualizer_updating_mutex_ will be used</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">// Lock maximum_displayed_correspondences_</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.lock ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="comment">// Update maximum_displayed_correspondences_</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">maximum_displayed_correspondences_</a> = maximum_displayed_correspondences;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="comment">// Unlock maximum_displayed_correspondences_</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.unlock();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#ad47af518fc0c1d68d1578e67a129d2e2">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#ad47af518fc0c1d68d1578e67a129d2e2">getMaximumDisplayedCorrespondences</a>()</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">maximum_displayed_correspondences_</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#a6ef7150b35bba0292b412f451aebefca">runDisplay</a> ();</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> std::string</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a3b9aab728e00bf441cd7317362979c03">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_registration_visualizer.html#a3b9aab728e00bf441cd7317362979c03">getIndexedName</a> (std::string &amp;root_name, <span class="keywordtype">size_t</span> &amp;<span class="keywordtype">id</span>)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        std::stringstream id_stream_;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        id_stream_ &lt;&lt; id;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        std::string indexed_name_ = root_name + id_stream_.str ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">return</span> indexed_name_;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a651f0c0ee86d59a951ec5edbed62d253">  168</a></span>&#160;      boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; <a class="code" href="classpcl_1_1_registration_visualizer.html#a651f0c0ee86d59a951ec5edbed62d253">viewer_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#ae452a8e8560a4f773a8ce271ca5b425b">  171</a></span>&#160;      boost::thread <a class="code" href="classpcl_1_1_registration_visualizer.html#ae452a8e8560a4f773a8ce271ca5b425b">viewer_thread_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">  174</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">registration_method_name_</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      boost::function&lt;void</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">  179</a></span>&#160;          PointTarget&gt; &amp;cloud_tgt, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt)&gt; <a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">  182</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">  185</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">cloud_source_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">  188</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">cloud_target_</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">  191</a></span>&#160;      boost::mutex <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">cloud_intermediate_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">  197</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">cloud_intermediate_indices_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">  200</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">cloud_target_indices_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">  203</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">maximum_displayed_correspondences_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    };</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;}</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/impl/registration_visualizer.hpp&gt;</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_REGISTRATION_VISUALIZER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a26eae6a42450893ca1c2ed81560159f2"><div class="ttname"><a href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">pcl::Registration::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> registration.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ac13dcb392c660cf311a689041ec63a5c"><div class="ttname"><a href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">pcl::Registration::registerVisualizationCallback</a></div><div class="ttdeci">bool registerVisualizationCallback(boost::function&lt; FunctionSignature &gt; &amp;visualizerCallback)</div><div class="ttdoc">Register the user callback function which will be called from registration thread in order to update ...</div><div class="ttdef"><b>Definition:</b> registration.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html">pcl::RegistrationVisualizer</a></div><div class="ttdoc">RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a2c10000ef0dae25bc43460c86637717c"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">pcl::RegistrationVisualizer::first_update_flag_</a></div><div class="ttdeci">bool first_update_flag_</div><div class="ttdoc">Updates source and target point clouds only for the first update call.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a2cc20367a4799f4f7da8040e128a871b"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">pcl::RegistrationVisualizer::update_visualizer_</a></div><div class="ttdeci">boost::function&lt; void(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)&gt; update_visualizer_</div><div class="ttdoc">Callback function linked to pcl::Registration::update_visualizer_</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a3b9aab728e00bf441cd7317362979c03"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a3b9aab728e00bf441cd7317362979c03">pcl::RegistrationVisualizer::getIndexedName</a></div><div class="ttdeci">std::string getIndexedName(std::string &amp;root_name, size_t &amp;id)</div><div class="ttdoc">Return the string obtained by concatenating a root_name and an id</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a486ef1ce9bd49da0224140b8b2f191eb"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">pcl::RegistrationVisualizer::updateIntermediateCloud</a></div><div class="ttdeci">void updateIntermediateCloud(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)</div><div class="ttdoc">Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...</div><div class="ttdef"><b>Definition:</b> registration_visualizer.hpp:182</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a489be64b6b8b6ee81a8f8a012fdc7601"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">pcl::RegistrationVisualizer::cloud_intermediate_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; cloud_intermediate_indices_</div><div class="ttdoc">The indices of intermediate points used for computation of rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a5b6b50586dd667578995f538835e7de3"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">pcl::RegistrationVisualizer::visualizer_updating_mutex_</a></div><div class="ttdeci">boost::mutex visualizer_updating_mutex_</div><div class="ttdoc">The mutex used for the synchronization of updating and rendering of the local buffers.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a651f0c0ee86d59a951ec5edbed62d253"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a651f0c0ee86d59a951ec5edbed62d253">pcl::RegistrationVisualizer::viewer_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; viewer_</div><div class="ttdoc">The registration viewer.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a6ef7150b35bba0292b412f451aebefca"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a6ef7150b35bba0292b412f451aebefca">pcl::RegistrationVisualizer::runDisplay</a></div><div class="ttdeci">void runDisplay()</div><div class="ttdoc">Initialize and run the visualization loop. This function will run in the internal thread viewer_threa...</div><div class="ttdef"><b>Definition:</b> registration_visualizer.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a897f50b0c290445cdb8847bb2e4c38a4"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a897f50b0c290445cdb8847bb2e4c38a4">pcl::RegistrationVisualizer::setMaximumDisplayedCorrespondences</a></div><div class="ttdeci">void setMaximumDisplayedCorrespondences(const int maximum_displayed_correspondences)</div><div class="ttdoc">Set maximum number of correspondence lines which will be rendered.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a8aa479028e64ad6aa570e8ae5443295f"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a8aa479028e64ad6aa570e8ae5443295f">pcl::RegistrationVisualizer::setRegistration</a></div><div class="ttdeci">bool setRegistration(pcl::Registration&lt; PointSource, PointTarget &gt; &amp;registration)</div><div class="ttdoc">Set the registration algorithm whose intermediate steps will be rendered. The method creates the loca...</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_aa4d88ff2498fd030ebf5cb093ac3c6f9"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">pcl::RegistrationVisualizer::cloud_target_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; cloud_target_indices_</div><div class="ttdoc">The indices of target points used for computation of rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_aa8c0e2987f64434b33a7c222994f155d"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">pcl::RegistrationVisualizer::cloud_source_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointSource &gt; cloud_source_</div><div class="ttdoc">The local buffer for source point cloud.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ab787362b64bcea7f9687da4aca902e7a"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ab787362b64bcea7f9687da4aca902e7a">pcl::RegistrationVisualizer::startDisplay</a></div><div class="ttdeci">void startDisplay()</div><div class="ttdoc">Start the viewer thread</div><div class="ttdef"><b>Definition:</b> registration_visualizer.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_abed5c1b7abac1c036b6058d0138ccaa5"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#abed5c1b7abac1c036b6058d0138ccaa5">pcl::RegistrationVisualizer::stopDisplay</a></div><div class="ttdeci">void stopDisplay()</div><div class="ttdoc">Stop the viewer thread</div><div class="ttdef"><b>Definition:</b> registration_visualizer.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_acd6b000dce0d3b942492e42b4681c57a"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">pcl::RegistrationVisualizer::registration_method_name_</a></div><div class="ttdeci">std::string registration_method_name_</div><div class="ttdoc">The name of the registration method whose intermediate results are rendered.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ace7e1578161638326c3732ac4c8b96b6"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">pcl::RegistrationVisualizer::maximum_displayed_correspondences_</a></div><div class="ttdeci">size_t maximum_displayed_correspondences_</div><div class="ttdoc">The maximum number of displayed correspondences.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ad47af518fc0c1d68d1578e67a129d2e2"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ad47af518fc0c1d68d1578e67a129d2e2">pcl::RegistrationVisualizer::getMaximumDisplayedCorrespondences</a></div><div class="ttdeci">size_t getMaximumDisplayedCorrespondences()</div><div class="ttdoc">Return maximum number of correspondence lines which are rendered.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ae452a8e8560a4f773a8ce271ca5b425b"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ae452a8e8560a4f773a8ce271ca5b425b">pcl::RegistrationVisualizer::viewer_thread_</a></div><div class="ttdeci">boost::thread viewer_thread_</div><div class="ttdoc">The thread running the runDisplay() function.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ae7d963b9d97c75df7223bcc5fe7ea4dc"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ae7d963b9d97c75df7223bcc5fe7ea4dc">pcl::RegistrationVisualizer::RegistrationVisualizer</a></div><div class="ttdeci">RegistrationVisualizer()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ae88fd9ad9e87b3cf7ac4c32c6d9e8df3"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">pcl::RegistrationVisualizer::cloud_target_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointTarget &gt; cloud_target_</div><div class="ttdoc">The local buffer for target point cloud.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_afe4ca43d8affb2331d73bd1a4beab034"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">pcl::RegistrationVisualizer::cloud_intermediate_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointSource &gt; cloud_intermediate_</div><div class="ttdoc">The local buffer for intermediate point cloud obtained during registration process.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:194</div></div>
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